version: 66.12
glider: 141
mission: 23
dive: 346
start: 11 3 115 19 40 32
data:
$ID,141
$MISSION,23
$DIVE,346
$N_DIVES,0
$D_SURF,3
$D_FLARE,5
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,20
$T_BOOST,5
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,330
$T_MISSION,360
$T_ABORT,1500
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52033
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0.5
$TGT_DEFAULT_LAT,6000
$TGT_DEFAULT_LON,-5500
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,50
$PITCH_MAX,3800
$C_PITCH,2715
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,25
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,361
$ROLL_MAX,4050
$ROLL_DEG,40
$C_ROLL_DIVE,2650
$C_ROLL_CLIMB,2475
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,41
$ROLL_AD_RATE,325
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,348
$VBD_MAX,3980
$C_VBD,3127
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,9.9999997e-05
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,0
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-33.834953
$PRESSURE_SLOPE,0.0001160265
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,133
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043543633
$SEABIRD_T_H,0.00062237249
$SEABIRD_T_I,2.1446129e-05
$SEABIRD_T_J,2.055453e-06
$SEABIRD_C_G,-10.134171
$SEABIRD_C_H,1.1439899
$SEABIRD_C_I,-0.0013638148
$SEABIRD_C_J,0.00018835191
$GPS1,031115,193403,753.5756,8233.4346,158,3.2,198,-2.2,0.3,306.6,6,20.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.40
$_SM_ANGLEo,-73.8
$GPS2,031115,193958,753.5866,8233.4111,12,1.4,46,-2.2,0.3,6.6,7,9.0
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,W1
$TGT_LATLONG,800.000,8500.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,92.1,269102,-14.9,-10.000,-18.74,2959
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,25,-0.62,-194.6,33,2661,1037,1153,0.0,0.0,0,114,0.00,0.00,-86.62,0.000,16386,0.000,0.000,31,2661,3509,3587,3431,0,0,0,0,0,0,14.92,28.83,14.95
$GC,123,-0.62,-194.6,31,2661,3587,3433,6.8,-7.6,9,146,12.15,2.30,-5.07,0.000,18948,0.410,0.067,2506,1230,3923,4001,3845,0,0,0,0,0,0,14.17,13.75,14.44
$GC,200,-0.62,-194.6,2506,1230,4001,3849,41.9,-26.7,25,205,0.00,2.35,0.00,0.000,1030,0.000,0.058,2498,2658,3925,4001,3849,0,0,0,0,0,0,14.72,14.60,14.75
$GC,516,-0.62,-194.6,2498,2658,4000,3852,118.5,-17.8,43,521,0.00,2.30,0.00,0.000,260,0.000,0.079,2487,4043,3926,4001,3852,0,0,0,0,0,0,15.06,14.61,15.09
$GC,600,-0.62,-194.6,2487,4043,4000,3853,132.9,-16.0,60,607,0.00,2.20,0.00,0.000,1030,0.000,0.032,2487,2624,3927,4001,3853,0,0,0,0,0,0,14.85,14.78,14.87
$GC,916,-0.62,-194.6,2487,2624,4001,3856,175.5,-12.6,78,922,0.00,2.35,0.00,0.000,260,0.000,0.078,2477,4034,3928,4001,3856,0,0,0,0,0,0,15.11,14.64,15.14
$GC,937,-0.62,-194.6,2477,4035,4001,3856,178.0,-12.4,82,943,0.12,2.12,0.00,0.000,3078,0.203,0.032,2514,2645,3928,4000,3856,0,0,0,0,0,0,14.48,14.78,14.63
$GC,1258,-0.62,-194.6,2513,2645,4000,3856,208.9,-9.4,101,1262,0.00,2.20,0.00,0.000,516,0.000,0.050,2514,1257,3929,4001,3857,0,0,0,0,0,0,15.12,14.76,15.15
$GC,1316,-0.62,-194.6,2513,1257,4000,3856,214.2,-9.0,112,1320,0.00,2.30,0.00,0.000,1030,0.000,0.054,2512,2647,3927,3999,3856,0,0,0,0,0,0,14.74,14.67,14.79
$GC,1622,-0.62,-194.6,2511,2647,3997,3857,239.2,-8.5,128,1628,0.00,2.30,0.00,0.000,260,0.000,0.081,2502,4038,3926,3996,3856,0,0,0,0,0,0,15.14,14.64,15.16
$GC,1683,-0.62,-194.6,2501,4038,3996,3856,245.0,-9.4,140,1689,0.00,2.12,0.00,0.000,1030,0.000,0.032,2501,2648,3927,3997,3857,0,0,0,0,0,0,14.82,14.78,14.85
$GC,2047,-0.62,-194.6,2501,2648,3990,3856,281.4,-10.2,151,2052,0.00,2.20,0.00,0.000,516,0.000,0.052,2501,1262,3922,3989,3856,0,0,0,0,0,0,15.13,14.71,15.16
$GC,2075,-0.62,-194.6,2501,1261,3989,3857,284.9,-10.3,157,2080,0.00,2.28,0.00,0.000,1030,0.000,0.056,2500,2663,3922,3989,3856,0,0,0,0,0,0,14.85,14.74,14.89
$GC,2413,-0.62,-194.6,2500,2663,3982,3856,317.8,-9.8,168,2414,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2663,3919,3982,3857,0,0,0,0,0,0,15.13,15.16,15.16
$GC,2710,-0.62,-194.6,2500,2663,3978,3856,347.5,-9.9,173,2712,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2663,3917,3978,3856,0,0,0,0,0,0,15.15,15.19,15.19
$GC,3010,-0.62,-194.6,2500,2664,3973,3857,380.6,-11.2,178,3011,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2664,3915,3974,3856,0,0,0,0,0,0,15.16,15.19,15.19
$GC,3310,-0.62,-194.6,2500,2664,3971,3854,407.4,-8.6,183,3312,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2664,3913,3971,3855,0,0,0,0,0,0,15.15,15.19,15.18
$GC,3610,-0.62,-194.6,2500,2663,3967,3853,430.1,-7.6,188,3616,0.00,2.30,0.00,0.000,516,0.000,0.054,2500,1257,3910,3967,3853,0,0,0,0,0,0,15.16,14.72,15.19
$GC,3650,-0.62,-194.6,2500,1257,3967,3853,433.5,-8.6,196,3656,0.00,2.28,0.00,0.000,1030,0.000,0.057,2492,2650,3909,3966,3853,0,0,0,0,0,0,14.83,14.72,14.87
$GC,3972,-0.62,-194.6,2492,2650,3963,3850,462.2,-9.2,205,3976,0.00,2.35,0.00,0.000,260,0.000,0.085,2482,4040,3906,3963,3850,0,0,0,0,0,0,15.15,14.62,15.18
$GC,4029,-0.62,-194.6,2481,4040,3963,3849,468.2,-10.0,216,4034,0.10,2.22,0.00,0.000,3078,0.188,0.034,2513,2648,3906,3963,3849,0,0,0,0,0,0,14.43,14.69,14.76
$GC,4340,-0.62,-194.6,2512,2648,3960,3848,492.5,-7.8,222,4345,0.00,2.22,0.00,0.000,516,0.000,0.056,2512,1264,3904,3960,3849,0,0,0,0,0,0,15.12,14.64,15.16
$GC,4369,-0.62,-194.6,2512,1264,3959,3848,495.3,-8.3,228,4376,0.00,2.28,0.00,0.000,1030,0.000,0.057,2513,2650,3903,3959,3848,0,0,0,0,0,0,14.81,14.69,14.84
$GC,4700,-0.62,-194.6,2512,2650,3958,3847,521.3,-8.0,239,4706,0.00,2.33,0.00,0.000,260,0.000,0.086,2502,4029,3902,3957,3847,0,0,0,0,0,0,15.14,14.54,15.17
$GC,4735,-0.62,-194.6,2501,4029,3957,3847,524.3,-8.8,246,4741,0.00,2.12,0.00,0.000,1030,0.000,0.035,2502,2661,3902,3958,3846,0,0,0,0,0,0,14.76,14.70,14.79
$GC,5063,-0.62,-194.6,2502,2661,3955,3846,552.3,-8.6,256,5069,0.00,2.28,0.00,0.000,516,0.000,0.057,2502,1251,3900,3954,3846,0,0,0,0,0,0,15.12,14.62,15.15
$GC,5124,-0.62,-194.6,2502,1251,3954,3845,557.8,-8.4,268,5130,0.00,2.30,0.00,0.000,1030,0.000,0.059,2498,2655,3899,3953,3846,0,0,0,0,0,0,14.67,14.60,14.72
$GC,5485,-0.62,-194.6,2497,2655,3950,3844,588.7,-8.6,285,5490,0.00,2.38,0.00,0.000,260,0.000,0.089,2487,4039,3897,3950,3844,0,0,0,0,0,0,15.14,14.57,15.17
$GC,5515,-0.62,-194.6,2487,4039,3950,3843,591.6,-9.3,290,5520,0.00,2.20,0.00,0.000,1030,0.000,0.037,2487,2644,3896,3950,3843,0,0,0,0,0,0,14.81,14.76,14.84
$GC,5851,-0.62,-194.6,2487,2645,3949,3842,623.0,-9.4,302,5853,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2645,3895,3949,3842,0,0,0,0,0,0,15.13,15.16,15.16
$GC,6150,-0.62,-194.6,2487,2644,3948,3841,650.0,-8.9,307,6155,0.00,2.25,0.00,0.000,516,0.000,0.059,2487,1258,3893,3947,3840,0,0,0,0,0,0,15.14,14.57,15.17
$GC,6185,-0.62,-194.6,2487,1258,3947,3841,653.0,-8.6,314,6191,0.10,2.30,0.00,0.000,3078,0.194,0.061,2510,2646,3893,3947,3840,0,0,0,0,0,0,14.34,14.59,14.48
$GC,6516,-0.62,-194.6,2510,2646,3945,3839,677.5,-7.5,324,6522,0.00,2.38,0.00,0.000,260,0.000,0.091,2502,4035,3892,3945,3839,0,0,0,0,0,0,15.11,14.47,15.15
$GC,6541,-0.62,-194.6,2502,4035,3945,3839,680.1,-8.2,329,6545,0.00,2.20,0.00,0.000,1030,0.000,0.037,2502,2646,3892,3945,3839,0,0,0,0,0,0,14.81,14.73,14.83
$GC,6944,-0.62,-194.6,2502,2646,3943,3838,713.0,-8.3,341,6949,0.00,2.30,0.00,0.000,516,0.000,0.060,2502,1244,3890,3942,3838,0,0,0,0,0,0,15.11,14.62,15.14
$GC,6997,-0.62,-194.6,2502,1245,3942,3838,718.0,-8.6,351,7003,0.00,2.35,0.00,0.000,1030,0.000,0.063,2496,2654,3889,3942,3837,0,0,0,0,0,0,14.73,14.60,14.78
$GC,7672,-0.62,-194.6,2496,2654,3940,3835,775.4,-8.6,370,7673,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2654,3887,3940,3835,0,0,0,0,0,0,15.11,15.14,15.14
$GC,8269,-0.62,-194.6,2496,2654,3938,3834,826.2,-8.4,375,8274,0.00,2.30,0.00,0.000,516,0.000,0.061,2496,1257,3885,3937,3834,0,0,0,0,0,0,15.13,14.52,15.16
$GC,8313,-0.62,-194.6,2496,1257,3937,3834,829.9,-8.1,384,8319,0.00,2.35,0.00,0.000,1030,0.000,0.066,2487,2660,3885,3937,3834,0,0,0,0,0,0,14.71,14.57,14.75
$GC,8989,-0.62,-194.6,2487,2660,3936,3831,884.6,-8.1,404,8995,0.00,2.33,0.00,0.000,516,0.000,0.063,2487,1252,3883,3936,3831,0,0,0,0,0,0,15.14,14.50,15.16
$GC,9044,-0.62,-194.6,2487,1252,3935,3831,889.3,-8.8,415,9050,0.10,2.33,0.00,0.000,3078,0.191,0.067,2509,2640,3883,3936,3831,0,0,0,0,0,0,14.25,14.47,14.38
$GC,9713,-0.62,-194.6,2509,2640,3933,3830,929.6,-5.7,433,9718,0.00,2.45,0.00,0.000,260,0.000,0.099,2501,4040,3881,3932,3830,0,0,0,0,0,0,15.10,14.40,15.14
$GC,9752,-0.62,-194.6,2501,4040,3932,3829,931.7,-5.0,440,9758,0.00,2.22,0.00,0.000,1030,0.000,0.041,2501,2648,3881,3932,3830,0,0,0,0,0,0,14.63,14.60,14.66
$GC,10442,-0.62,-194.6,2501,2648,3931,3829,965.1,-4.9,462,10447,0.00,2.30,0.00,0.000,516,0.000,0.066,2501,1251,3880,3931,3829,0,0,0,0,0,0,15.09,14.43,15.13
$GC,10496,-0.62,-194.6,2501,1251,3931,3829,968.4,-6.5,473,10500,0.00,2.38,0.00,0.000,1030,0.000,0.070,2495,2654,3880,3931,3829,0,0,0,0,0,0,14.64,14.49,14.69
$STATE,10920,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10920,begin apogee
$GC,10931,-0.20,0.0,2494,2460,3930,3829,996.0,-6.5,489,11092,0.52,0.00,158.57,2.190,10246,0.179,0.000,2644,2460,3126,3059,3193,0,0,0,0,0,0,14.28,14.04,13.05
$STATE,11094,end apogee,CONTROL_FINISHED_OK
$STATE,11094,begin climb
$GC,11098,0.62,194.6,2644,2460,3059,3190,1000.2,0.0,490,11273,0.82,2.47,165.02,2.158,10756,0.119,0.076,2920,1086,2329,2237,2421,0,0,0,0,0,0,14.05,13.54,12.78
$GC,11307,0.62,194.6,2920,1086,2242,2413,985.1,12.4,542,11313,0.00,2.45,0.00,0.000,1030,0.000,0.068,2920,2470,2327,2242,2412,0,0,0,0,0,0,14.00,13.95,14.03
$GC,12003,0.62,194.6,2919,2469,2248,2401,893.9,13.1,566,12004,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,2470,2324,2248,2400,0,0,0,0,0,0,14.97,15.00,15.00
$GC,12602,0.62,194.6,2920,2470,2249,2396,813.0,13.5,571,12608,0.00,2.42,0.00,0.000,260,0.000,0.099,2920,3877,2322,2249,2396,0,0,0,0,0,0,15.05,14.51,15.09
$GC,12637,0.62,194.6,2919,3877,2256,2390,807.9,15.1,578,12643,0.00,2.25,0.00,0.000,1030,0.000,0.053,2930,2496,2322,2256,2389,0,0,0,0,0,0,14.70,14.64,14.73
$GC,13322,0.62,194.6,2930,2495,2256,2389,716.0,13.1,600,13323,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2495,2322,2256,2389,0,0,0,0,0,0,15.09,15.13,15.12
$GC,13928,0.62,194.6,2930,2496,2256,2389,645.6,12.0,608,13929,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2495,2322,2255,2389,0,0,0,0,0,0,15.08,15.11,15.11
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$STATE,19884,end climb,SURFACE_DEPTH_REACHED
$STATE,19885,begin surface coast
$STATE,19915,end surface coast,CONTROL_FINISHED_OK
$STATE,19915,begin surface
$SM_CCo,19998,0.00,0.000,0,0,605,618.89
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$IRIDIUM_FIX,747.28,8232.52,031115,135419
$TT8_MAMPS,0.023968,0.023968
$HUMID,48.81
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,23.40
$XPDR_PINGS,2
$24V_AH,12.78,112.932
$10V_AH,12.62,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.175,129.975,629.825,0.000,0.000,0.000,0.000,193.125,0.500,0.000,48.380,623.087,16527.539,635.767,1980.334,579.729,0.000,1744.995,0.000,1345.730,0.000,0.543,0.000
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$SENSORS,SciConCT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1044.283,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,30.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,271756
$DATA_FILE_SIZE,40093,932
$CAP_FILE_SIZE,161920,0
$CFSIZE,260034560,226017280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.008,255.90,1
$GPS,041115,011645,753.467,8236.419,91,3.7,131,-2.2,0.6,344.0,4,37.4